Cashirka 7a ee 10: Raadinta Sadarka, Ogaanshaha Jiirka Calibrayn Sensor Grey-scale Raspberry Pi Pico Car

Casharka ku saabsan koorsada Raspberry Pi Pico Smart Car, waxaan sahaminaynaa adduunka xiisaha leh ee socodka iswada ee isku darka servo motor, sensor ultrasonic, iyo kontoroolka matoorka si ay gaarigu u ogaado oo uga fogaado caqabadaha. Mashruucani wuxuu u beddelaa qalabka afar-taayirka ah ee aasaasiga ah robot caqli-gal ah oo ku socon kara deegaanno isbeddelaya, taasoo ka dhigaysa aasaas fiican oo lagu baranayo isku-darka sensor-ka iyo algorithms-ka kontoroolka falcelinta. Qiimaha dhabta ah ee mashruucani wuxuu ka fog yahay fasalka, isagoo bixinaya goob lagu dabaqi karo codsiyada wax ku oolka ah sida dhisidda nadiifiye robot ah oo ku wareegaya alaabta guriga, abuurista robot ammaan oo sawiraya aagagga ammaanka ah, ama horumarinta tusaale u ah gaari gudbin iswada oo mari kara meelaha dadka ku badan.

Xudunta mashruucani waxay ku jirtaa isticmaalka servo motor si loo wareejiyo sensor ultrasonic, abuurista nidaam radar fudud. Iyadoo la sawirayo deegaanka 0 ilaa 180 darajo, gaarigu wuxuu cabbiri karaa masaafada caqabadaha oo uu aqoonsan karaa waddada ugu cad ee hore. Casharkani wuxuu bixiyaa hagaha tallaabo-tallaabo ah ee hirgelinta macquulka ah ee fasiraya xogta sensor-ka si loo sameeyo go'aamo wadista caqli-gal ah.

Qalabka/Qaybaha

Mashruucani wuxuu ku salaysan yahay qalabka gaariga afar-taayirka ah ee SunFounder Raspberry Pi Pico. In kasta oo nooca saxda ahi uu kala duwanaan karo, qaybaha aasaasiga ah ee loo baahan yahay waa:

• Guddiga microcontroller-ka Raspberry Pi Pico
• Qalabka jirka gaariga caqliga leh ee SunFounder 4WD (ama mid la mid ah)
• Sensor masaafada ultrasonic (tusaale, HC-SR04)
• Matoorka servo (si loo wareejiyo sensor-ka ultrasonic)
• Guddiga darawalnimada matoorka (oo ku dhex jira qalabka gaariga)
• Koronto (battery)

Hagaha Xiriirinta

Xiriirinta mashruucani waxay caadi ahaan horay ugu habaysan tahay guddiga ballaarinta ee qalabka SunFounder. Pin-ka trigger iyo echo ee sensor-ka ultrasonic, iyo sidoo kale pin-ka signal-ka ee matoorka servo, waxay ku xiran yihiin GPIO pin-yo gaar ah oo ku yaal Raspberry Pi Pico. Darawalka matoorka sidoo kale wuxuu ku xiran yahay Pico si uu u xakameeyo jihada iyo xawaaraha afarta matoor.

Si aad u hesho jaantus xiriir faahfaahsan oo ku habboon qalabkaaga, fadlan tixraac dukumeentiga ay bixiso SunFounder. Jaantus guud ayaa inta badan lagu daray buug-gacmeedka qalabka ama lagu heli karaa shabakadda soo-saaraha.

Sharaxaadda Koodhka

Casharkani wuxuu diiradda saarayaa macquulka iyo xuduudaha isticmaaluhu wax ka beddeli karo ee ku dhex jira barnaamijka ka fogaanshaha caqabadaha. Koodhku wuxuu u qaabaysan yahay inuu xakameeyo dhaqanka gaariga iyadoo lagu salaynayo waxa sensor-ka ultrasonic soo galiyo. Doorsoomayaasha muhiimka ah ee aad hagaajin karto si aad u wanaajiso waxqabadka gaariga waxaa caadi ahaan lagu qeexaa dusha sare ee script-ka.

Waa kuwan qaybaha ugu muhiimsan ee isticmaaluhu wax ka beddeli karo ee aad ka heli doonto koodhka:

• Masaafada Tixraaca Radar-ka: Kani waa masaafada xadka ah (tusaale, 20 cm) ee go'aaminaysa haddii caqabad loo tixgeliyo "khatar." Haddii sensor-ku akhriyo masaafo ka yar qiimahan, gaarigu wuxuu bilaabi doonaa dhaqdhaqaaq ka fogaansho.
• Xagasha Tallaabada: Kani waa korodhka (tusaale, 10 darajo) ee matoorka servo uu ku wareejiyo marka uu sawirayo deegaanka. Xagal tallaabo yar ayaa bixisa sawir faahfaahsan laakiin waxay qaadataa waqti dheer.
• Xawaaraha Hore: Doorsoomahaani (tusaale, 30) wuxuu dejiyaa heerka awoodda matoorada marka gaarigu hore u socdo.
• Xawaaraha Leexashada: Doorsoomahaani (tusaale, 50) wuxuu dejiyaa heerka awoodda matoorada marka gaarigu leexanayo, kaas oo caadi ahaan ka sarreeya xawaaraha hore si loo hubiyo leexasho go'aan ah.
• Xagasha Sawirka Hore: Qiimahaani (tusaale, 50 darajo) wuxuu dejiyaa xadka xaglaha ee servo uu sawiri doono marka gaarigu hore u socdo. Sawir cidhiidhi ah ayaa ka dhakhso badan oo ku filan in lagu ogaado caqabadaha si toos ah ugu jira waddada.

Si aad u fahamto sida loo isticmaalo doorsoomayaashan, qiyaas inaad rabto in gaarigu aad uga taxaddaro. Waxaad kordhin kartaa RADAR_REFERENCE ilaa 25 cm, taasoo keentay inuu ogaado oo uu ka fogaado caqabadaha masaafo dheer. Taa beddelkeeda, gaari ka dhakhso badan oo ka firfircoon, waxaad hoos u dhigi kartaa qiimahan ilaa 15 cm.

Macquulka ugu weyn wuxuu isticmaalaa shaqada get_direction() si uu u falanqeeyo xogta sensor-ka. Shaqadani waxay u beddeshaa safka akhrinta masaafada xarriiq '1' ah (meel bannaan) iyo '0' (caqabad). Kadibna waxay u kala goysaa xarriiqdan meelaha eberka ah si ay u hesho waddada joogtada ah ee ugu ballaadhan. Iyadoo lagu salaynayo booska waddadan ballaadhan, shaqadu waxay soo celisaa jihada: 'bidix', 'midig', ama 'hore'. Loop-ka ugu weyn ayaa markaas fuliya dhaqdhaqaaqa ku habboon.

Mashruuca Tooska ah/Muujinta

(fiidiyowga 02:47) Macallinku wuxuu bilaabayaa muujinta sifada ka fogaanshaha caqabadaha. Gaarigu wuxuu isticmaalaa servo si uu u wareejiyo sensor-ka ultrasonic, isagoo u dhaqmaya sidii radar. Marka gaarigu socdo, wuxuu sawirayaa agagaarkiisa si uu u helo waddo bannaan.

(fiidiyowga 03:34) Koodhka waa la wadaa, gaarigana waxaa lagu tijaabiyaa meel furan. Macallinku wuxuu sharxayaa qaabka koodhka, isagoo muujinaya sida shaqada get_distance() ee module-ka sonar loogu isticmaalo in lagu cabbiro masaafada. Akhrinta sensor-ka waxaa lagu muujiyaa shell-ka, taasoo muujinaysa saxnaantiisa iyo xaddidnaantiisa.

(fiidiyowga 07:45) Macallinku wuxuu markaas furaa tusaalaha "obstacle_avoid" wuxuuna dhex maraa jaantuska socodkiisa. Caawinta muuqaalka ahi waxay sharxaysaa habka go'aan qaadashada: gaarigu wuu sawirayaa, wuxuu hubinayaa khatarta, iyo haddii waddo la xiro, wuxuu go'aaminayaa jihada ugu fiican ee uu leexan karo iyadoo lagu salaynayo waddada ugu ballaadhan ee furan.

(fiidiyowga 16:02) Tijaabo toos ah ayaa la sameeyaa. Gaarigu wuxuu si guul leh u ogaadaa caqabad (sanduuq) wuxuuna ku wareegayaa, isagoo bidix u leexanaya si uu u helo waddo cad. Macallinku wuxuu sharxayaa xogta waqtiga dhabta ah ee lagu daabacayo shell-ka, isagoo muujinaya '0' caqabad iyo '1' meel bannaan.

(fiidiyowga 22:53) Bandhig kama-dambays ah oo ka sii adag ayaa la diyaariyay oo leh caqabado badan. Gaarigu wuxuu ku dhex maraa jidka, isagoo go'aamo ka qaadanaya inuu u leexdo bidix ama midig si uu uga fogaado shilalka oo uu u helo waddo cad, taasoo muujinaysa waxtarka algorithm-ka jawi aad u adag.

Cutubyada

• [00:00] Hordhaca Casharka
• [01:31] Dulmarka Koorsada iyo Qalabka
• [02:47] Muujinta Astaanta Ka-hortagga Caqabadaha
• [03:34] Tijaabinta Sensor-ka Ultrasonic
• [07:45] Fahamka Algorithm-ka Ka-hortagga Caqabadaha
• [12:49] Faahfaahinta Koodhka: Loop-ka Guud iyo Macquulka
• [16:02] Tijaabinta Tooska ah iyo Falanqaynta Xogta
• [22:53] Muujinta Koorsada Caqabadaha Adag